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/* Author: Ioan Sucan */

#pragma once

#include <ompl/base/goals/GoalSampleableRegion.h>

namespace ompl_interface
{
/** @class GoalSampleableRegionMux*/
class GoalSampleableRegionMux : public ompl::base::GoalSampleableRegion
{
public:
  /** @brief Constructor
   *  @param goals The input set of goals*/
  GoalSampleableRegionMux(const std::vector<ompl::base::GoalPtr>& goals);

  ~GoalSampleableRegionMux() override
  {
  }

  /** @brief Sample a goal*/
  void sampleGoal(ompl::base::State* st) const override;

  /** @brief Get the max sample count*/
  unsigned int maxSampleCount() const override;

  /** @brief Query if sampler can find any sample*/
  virtual bool canSample() const;

  /** @brief Query if sampler could find a sample in the future */
  bool couldSample() const override;

  /** @brief Is the goal satisfied for this state (given a distance)*/
  bool isSatisfied(const ompl::base::State* st, double* distance) const override;

  /** @brief Find the distance of this state from the goal*/
  double distanceGoal(const ompl::base::State* st) const override;

  /** @brief If there are any member lazy samplers, start them */
  void startSampling();

  /** @brief If there are any member lazy samplers, stop them */
  void stopSampling();

  /** @brief Pretty print goal information*/
  void print(std::ostream& out = std::cout) const override;

protected:
  std::vector<ompl::base::GoalPtr> goals_;
  mutable unsigned int gindex_;
};
}  // namespace ompl_interface
